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<a href="fsm__change_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: fsm_change.c,v fdb85a806585 2012/09/06 16:28:57 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="master_8h.html">master.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fsm__change_8h.html">fsm_change.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#ac795cfc1b59ef531b45e8d14ecab9841">   45</a></span>&#160;<span class="preprocessor">#define EC_AL_STATE_CHANGE_TIMEOUT 5</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a1ff34d96ae20d01c0ceff028a86ba0d2">ec_fsm_change_state_start</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a2f4192e2dc04a2bdbe005c3813def3d0">ec_fsm_change_state_check</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#aa1d6b2a804bb531bb20a527ca46bfc16">ec_fsm_change_state_status</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">ec_fsm_change_state_start_code</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a3086450d29218c679764594776e55fb8">ec_fsm_change_state_code</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a17990ee1720e4f8024fea39a6c167e59">ec_fsm_change_state_ack</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a416b62cee177ddf8ec5865b93c8f0750">ec_fsm_change_state_check_ack</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="fsm__change_8h.html#a9b93c6163e34fd65a4fe44ab28bf5df3">   65</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a2813e95dc9b8f066f1d88a379db9919a">ec_fsm_change_init</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm, </div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram </div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                        )</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;{</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = NULL;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a> = datagram;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a> = 0;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="fsm__change_8h.html#ae14cce5cbfe182e8b7f3b334bcf43abf">   80</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a6d947220ad1f1869e05a59d70548dd2e">ec_fsm_change_clear</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm )</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="fsm__change_8h.html#a05075c9695464e542905a634ceb071bd">   90</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm, </div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                         <a class="code" href="structec__slave.html">ec_slave_t</a> *slave, </div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                         <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0">ec_slave_state_t</a> state </div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                         )</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;{</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a3565fb9fec03a24d1d3a66cce7e9fce3">mode</a> = <a class="code" href="fsm__change_8h.html#afca7005acad1cbd2221d92dfbf4a608baab98fc747b7ddcbd70755c03bf31122e">EC_FSM_CHANGE_MODE_FULL</a>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a> = slave;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a> = state;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a1ff34d96ae20d01c0ceff028a86ba0d2">ec_fsm_change_state_start</a>;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="fsm__change_8h.html#a2c30215c50becd54d3ac1d1ee2b0a96a">  107</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a547d125301f531e459193593442ba6e9">ec_fsm_change_ack</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm, </div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                       <a class="code" href="structec__slave.html">ec_slave_t</a> *slave </div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                       )</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a3565fb9fec03a24d1d3a66cce7e9fce3">mode</a> = <a class="code" href="fsm__change_8h.html#afca7005acad1cbd2221d92dfbf4a608bace4d82f3fb6f59f56e3d4f60a77bb78d">EC_FSM_CHANGE_MODE_ACK_ONLY</a>;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a> = slave;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a> = <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0ae9edba07c48fe21c2e3ee549f98a0f59">EC_SLAVE_STATE_UNKNOWN</a>;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">ec_fsm_change_state_start_code</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="fsm__change_8h.html#a0dc0b7823d8a0440797fb93fda8a5b86">  124</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm )</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;{</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a>(fsm);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> != <a class="code" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> != <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="fsm__change_8h.html#a00d02215e861290d5fd7da1d0bc0d64b">  139</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm )</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">return</span> fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> == <a class="code" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a>;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;}</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment"> *  state change state machine</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#a1ff34d96ae20d01c0ceff028a86ba0d2">  152</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a1ff34d96ae20d01c0ceff028a86ba0d2">ec_fsm_change_state_start</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;{</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a> = 1;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a1327ecfcea3bdd858423750cf22783e6">old_state</a> = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// write new state to slave</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0120, 2);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a2f4192e2dc04a2bdbe005c3813def3d0">ec_fsm_change_state_check</a>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#a2f4192e2dc04a2bdbe005c3813def3d0">  174</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a2f4192e2dc04a2bdbe005c3813def3d0">ec_fsm_change_state_check</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a>--)</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive state datagram: &quot;</span>);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    }</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a>) {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a> = 0;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">jiffies_start</a> = datagram-&gt;<a class="code" href="structec__datagram__t.html#a640ba704d00d50c33e930b6c641b55d7">jiffies_sent</a>;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    }</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> == 0) {</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">jiffies_received</a> - fsm-&gt;<a class="code" href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">jiffies_start</a> &gt;= 3 * HZ) {</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            <span class="keywordtype">char</span> state_str[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>, state_str, 0);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set state %s: &quot;</span>, state_str);</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="comment">// repeat writing new state to slave</span></div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0120, 2);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">if</span> (unlikely(datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> &gt; 1)) {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordtype">char</span> state_str[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>, state_str, 0);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set state %s: &quot;</span>, state_str);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    }</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a> = 1;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="comment">// read AL status from slave</span></div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0130, 2);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a> = 0;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#aa1d6b2a804bb531bb20a527ca46bfc16">ec_fsm_change_state_status</a>;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;}</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#aa1d6b2a804bb531bb20a527ca46bfc16">  237</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#aa1d6b2a804bb531bb20a527ca46bfc16">ec_fsm_change_state_status</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;{</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a>--)</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive state checking datagram: &quot;</span>);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keywordtype">char</span> req_state[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>, req_state, 0);</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to check state %s: &quot;</span>, req_state);</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    }</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a>) {</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a> = 0;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">jiffies_start</a> = datagram-&gt;<a class="code" href="structec__datagram__t.html#a640ba704d00d50c33e930b6c641b55d7">jiffies_sent</a>;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> = <a class="code" href="group__ApplicationInterface.html#gabfd606064b98475fc6cbe52aea6b5133">EC_READ_U8</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>);</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> == fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>) {</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="comment">// state has been set successfully</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a>;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    }</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> != fsm-&gt;<a class="code" href="structec__fsm__change.html#a1327ecfcea3bdd858423750cf22783e6">old_state</a>) { <span class="comment">// state changed</span></div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="keywordtype">char</span> req_state[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>], cur_state[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a>, cur_state, 0);</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <span class="keywordflow">if</span> ((slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> &amp; 0x0F) != (fsm-&gt;<a class="code" href="structec__fsm__change.html#a1327ecfcea3bdd858423750cf22783e6">old_state</a> &amp; 0x0F)) {</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            <span class="comment">// Slave spontaneously changed its state just before the new state</span></div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            <span class="comment">// was written. Accept current state as old state and wait for</span></div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            <span class="comment">// state change</span></div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a> = 1;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__change.html#a1327ecfcea3bdd858423750cf22783e6">old_state</a> = slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a>;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Changed to %s in the meantime.\n&quot;</span>,</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                    cur_state);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            <span class="keywordflow">goto</span> check_again;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        }</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="comment">// state change error</span></div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>, req_state, 0);</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set %s state, slave refused state&quot;</span></div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                <span class="stringliteral">&quot; change (%s).\n&quot;</span>, req_state, cur_state);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <a class="code" href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">ec_fsm_change_state_start_code</a>(fsm);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    }</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="comment">// still old state</span></div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">jiffies_received</a> - fsm-&gt;<a class="code" href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">jiffies_start</a> &gt;=</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            <a class="code" href="fsm__change_8c.html#ac795cfc1b59ef531b45e8d14ecab9841">EC_AL_STATE_CHANGE_TIMEOUT</a> * HZ) {</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// timeout while checking</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="keywordtype">char</span> state_str[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">requested_state</a>, state_str, 0);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Timeout while setting state %s.\n&quot;</span>, state_str);</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    }</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; check_again:</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="comment">// no timeout yet. check again</span></div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0130, 2);</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;}</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div><div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">  326</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">ec_fsm_change_state_start_code</a>(</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm </div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        )</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;{</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="comment">// fetch AL status error code</span></div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0134, 2);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a3086450d29218c679764594776e55fb8">ec_fsm_change_state_code</a>;</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="slave_8c.html#a5bdb82dad7820f4bb46d5713c4247a54">  346</a></span>&#160;<span class="keyword">const</span> <a class="code" href="structec__code__msg__t.html">ec_code_msg_t</a> <a class="code" href="fsm__change_8c.html#a5bdb82dad7820f4bb46d5713c4247a54">al_status_messages</a>[] = {</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    {0x0000, <span class="stringliteral">&quot;No error&quot;</span>},</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    {0x0001, <span class="stringliteral">&quot;Unspecified error&quot;</span>},</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    {0x0002, <span class="stringliteral">&quot;No Memory&quot;</span>},</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    {0x0011, <span class="stringliteral">&quot;Invalid requested state change&quot;</span>},</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    {0x0012, <span class="stringliteral">&quot;Unknown requested state&quot;</span>},</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    {0x0013, <span class="stringliteral">&quot;Bootstrap not supported&quot;</span>},</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    {0x0014, <span class="stringliteral">&quot;No valid firmware&quot;</span>},</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    {0x0015, <span class="stringliteral">&quot;Invalid mailbox configuration&quot;</span>},</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    {0x0016, <span class="stringliteral">&quot;Invalid mailbox configuration&quot;</span>},</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    {0x0017, <span class="stringliteral">&quot;Invalid sync manager configuration&quot;</span>},</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    {0x0018, <span class="stringliteral">&quot;No valid inputs available&quot;</span>},</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    {0x0019, <span class="stringliteral">&quot;No valid outputs&quot;</span>},</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    {0x001A, <span class="stringliteral">&quot;Synchronization error&quot;</span>},</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    {0x001B, <span class="stringliteral">&quot;Sync manager watchdog&quot;</span>},</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    {0x001C, <span class="stringliteral">&quot;Invalid sync manager types&quot;</span>},</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    {0x001D, <span class="stringliteral">&quot;Invalid output configuration&quot;</span>},</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    {0x001E, <span class="stringliteral">&quot;Invalid input configuration&quot;</span>},</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    {0x001F, <span class="stringliteral">&quot;Invalid watchdog configuration&quot;</span>},</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    {0x0020, <span class="stringliteral">&quot;Slave needs cold start&quot;</span>},</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    {0x0021, <span class="stringliteral">&quot;Slave needs INIT&quot;</span>},</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    {0x0022, <span class="stringliteral">&quot;Slave needs PREOP&quot;</span>},</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    {0x0023, <span class="stringliteral">&quot;Slave needs SAFEOP&quot;</span>},</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    {0x0024, <span class="stringliteral">&quot;Invalid Input Mapping&quot;</span>},</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    {0x0025, <span class="stringliteral">&quot;Invalid Output Mapping&quot;</span>},</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    {0x0026, <span class="stringliteral">&quot;Inconsistent Settings&quot;</span>},</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    {0x0027, <span class="stringliteral">&quot;Freerun not supported&quot;</span>},</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    {0x0028, <span class="stringliteral">&quot;Synchronization not supported&quot;</span>},</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    {0x0029, <span class="stringliteral">&quot;Freerun needs 3 Buffer Mode&quot;</span>},</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    {0x002A, <span class="stringliteral">&quot;Background Watchdog&quot;</span>},</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    {0x002B, <span class="stringliteral">&quot;No Valid Inputs and Outputs&quot;</span>},</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    {0x002C, <span class="stringliteral">&quot;Fatal Sync Error&quot;</span>},</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    {0x002D, <span class="stringliteral">&quot;No Sync Error&quot;</span>},</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    {0x0030, <span class="stringliteral">&quot;Invalid DC SYNCH configuration&quot;</span>},</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    {0x0031, <span class="stringliteral">&quot;Invalid DC latch configuration&quot;</span>},</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    {0x0032, <span class="stringliteral">&quot;PLL error&quot;</span>},</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    {0x0033, <span class="stringliteral">&quot;DC Sync IO Error&quot;</span>},</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    {0x0034, <span class="stringliteral">&quot;DC Sync Timeout Error&quot;</span>},</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    {0x0035, <span class="stringliteral">&quot;DC Invalid Sync Cycle Time&quot;</span>},</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    {0x0036, <span class="stringliteral">&quot;DC Sync0 Cycle Time&quot;</span>},</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    {0x0037, <span class="stringliteral">&quot;DC Sync1 Cycle Time&quot;</span>},</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    {0x0041, <span class="stringliteral">&quot;MBX_AOE&quot;</span>},</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    {0x0042, <span class="stringliteral">&quot;MBX_EOE&quot;</span>},</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    {0x0043, <span class="stringliteral">&quot;MBX_COE&quot;</span>},</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    {0x0044, <span class="stringliteral">&quot;MBX_FOE&quot;</span>},</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    {0x0045, <span class="stringliteral">&quot;MBX_SOE&quot;</span>},</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    {0x004F, <span class="stringliteral">&quot;MBX_VOE&quot;</span>},</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    {0x0050, <span class="stringliteral">&quot;EEPROM No Access&quot;</span>},</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    {0x0051, <span class="stringliteral">&quot;EEPROM Error&quot;</span>},</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    {0x0060, <span class="stringliteral">&quot;Slave Restarted Locally&quot;</span>},</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    {0xffff}</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;};</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;</div><div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#a3086450d29218c679764594776e55fb8">  406</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a3086450d29218c679764594776e55fb8">ec_fsm_change_state_code</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;{</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    uint32_t code;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keyword">const</span> <a class="code" href="structec__code__msg__t.html">ec_code_msg_t</a> *al_msg;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a>--)</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>, <span class="stringliteral">&quot;Failed to receive&quot;</span></div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;                <span class="stringliteral">&quot; AL status code datagram: &quot;</span>);</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    }</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>, <span class="stringliteral">&quot;Reception of AL status code&quot;</span></div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;                <span class="stringliteral">&quot; datagram failed: &quot;</span>);</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        code = <a class="code" href="group__ApplicationInterface.html#gaa78148947379983986940d1980ac3db1">EC_READ_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>);</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="keywordflow">for</span> (al_msg = al_status_messages; al_msg-&gt;<a class="code" href="structec__code__msg__t.html#a21dd735111c4e487365bf7570fda697d">code</a> != 0xffff; al_msg++) {</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;            <span class="keywordflow">if</span> (al_msg-&gt;<a class="code" href="structec__code__msg__t.html#a21dd735111c4e487365bf7570fda697d">code</a> != code) {</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;                <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            }</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;            <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>, <span class="stringliteral">&quot;AL status message 0x%04X: \&quot;%s\&quot;.\n&quot;</span>,</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;                    al_msg-&gt;<a class="code" href="structec__code__msg__t.html#a21dd735111c4e487365bf7570fda697d">code</a>, al_msg-&gt;<a class="code" href="structec__code__msg__t.html#a9b1fef025e25828a20170a275c5976e3">message</a>);</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        }</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="keywordflow">if</span> (al_msg-&gt;<a class="code" href="structec__code__msg__t.html#a21dd735111c4e487365bf7570fda697d">code</a> == 0xffff) { <span class="comment">/* not found in our list. */</span></div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>, <span class="stringliteral">&quot;Unknown AL status code 0x%04X.\n&quot;</span>,</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;                    code);</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        }</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    }</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    <span class="comment">// acknowledge &quot;old&quot; slave state</span></div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0120, 2);</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a>);</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a17990ee1720e4f8024fea39a6c167e59">ec_fsm_change_state_ack</a>;</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;}</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;</div><div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#a17990ee1720e4f8024fea39a6c167e59">  458</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a17990ee1720e4f8024fea39a6c167e59">ec_fsm_change_state_ack</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm )</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;{</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>;</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a>--)</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive state ack datagram: &quot;</span>);</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    }</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Reception of state ack datagram failed: &quot;</span>);</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    }</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a> = 1;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="comment">// read new AL status</span></div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0130, 2);</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a416b62cee177ddf8ec5865b93c8f0750">ec_fsm_change_state_check_ack</a>;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;}</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#a416b62cee177ddf8ec5865b93c8f0750">  495</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a416b62cee177ddf8ec5865b93c8f0750">ec_fsm_change_state_check_ack</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;{</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">datagram</a>;</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">slave</a>;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a>--)</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive state ack check datagram: &quot;</span>);</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    }</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Reception of state ack check datagram failed: &quot;</span>);</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    }</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a>) {</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">take_time</a> = 0;</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">jiffies_start</a> = datagram-&gt;<a class="code" href="structec__datagram__t.html#a640ba704d00d50c33e930b6c641b55d7">jiffies_sent</a>;</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    }</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> = <a class="code" href="group__ApplicationInterface.html#gabfd606064b98475fc6cbe52aea6b5133">EC_READ_U8</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>);</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="keywordflow">if</span> (!(slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> &amp; <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0afa4a479453f36ac36204ece05aeacd82">EC_SLAVE_STATE_ACK_ERR</a>)) {</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        <span class="keywordtype">char</span> state_str[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a>, state_str, 0);</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__change.html#a3565fb9fec03a24d1d3a66cce7e9fce3">mode</a> == <a class="code" href="fsm__change_8h.html#afca7005acad1cbd2221d92dfbf4a608baab98fc747b7ddcbd70755c03bf31122e">EC_FSM_CHANGE_MODE_FULL</a>) {</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        }</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        <span class="keywordflow">else</span> { <span class="comment">// EC_FSM_CHANGE_MODE_ACK_ONLY</span></div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a>;</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        }</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        <a class="code" href="slave_8h.html#af7d7537e5ba790ca327223cb92318eed">EC_SLAVE_INFO</a>(slave, <span class="stringliteral">&quot;Acknowledged state %s.\n&quot;</span>, state_str);</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    }</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">jiffies_received</a> - fsm-&gt;<a class="code" href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">jiffies_start</a> &gt;=</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;            <a class="code" href="fsm__change_8c.html#ac795cfc1b59ef531b45e8d14ecab9841">EC_AL_STATE_CHANGE_TIMEOUT</a> * HZ) {</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <span class="comment">// timeout while checking</span></div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        <span class="keywordtype">char</span> state_str[<a class="code" href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a>];</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;        <a class="code" href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a>(slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a>, state_str, 0);</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">state</a> = <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>;</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Timeout while acknowledging state %s.\n&quot;</span>,</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                state_str);</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    }</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <span class="comment">// reread new AL status</span></div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0130, 2);</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;}</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;</div><div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">  561</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;{</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;}</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;</div><div class="line"><a name="l00572"></a><span class="lineno"><a class="line" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">  572</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a>(<a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm)</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;{</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;}</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="ttc" id="globals_8h_html_a23a5e3d7f269f14bea7017438c72d208"><div class="ttname"><a href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a></div><div class="ttdeci">#define EC_FSM_RETRIES</div><div class="ttdoc">Number of state machine retries on datagram timeout. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00059">globals.h:59</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a640ba704d00d50c33e930b6c641b55d7"><div class="ttname"><a href="structec__datagram__t.html#a640ba704d00d50c33e930b6c641b55d7">ec_datagram_t::jiffies_sent</a></div><div class="ttdeci">unsigned long jiffies_sent</div><div class="ttdoc">Jiffies, when the datagram was sent. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00104">datagram.h:104</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a67f934c317235fc5ea71ee128f6a979b"><div class="ttname"><a href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">ec_fsm_change::spontaneous_change</a></div><div class="ttdeci">uint8_t spontaneous_change</div><div class="ttdoc">spontaneous state change detected </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00076">fsm_change.h:76</a></div></div>
<div class="ttc" id="fsm__change_8c_html_ac795cfc1b59ef531b45e8d14ecab9841"><div class="ttname"><a href="fsm__change_8c.html#ac795cfc1b59ef531b45e8d14ecab9841">EC_AL_STATE_CHANGE_TIMEOUT</a></div><div class="ttdeci">#define EC_AL_STATE_CHANGE_TIMEOUT</div><div class="ttdoc">Timeout while waiting for AL state change [s]. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00045">fsm_change.c:45</a></div></div>
<div class="ttc" id="fsm__change_8h_html"><div class="ttname"><a href="fsm__change_8h.html">fsm_change.h</a></div><div class="ttdoc">EtherCAT state change FSM. </div></div>
<div class="ttc" id="globals_8h_html_a5492e579e30e1bb9351cd601a89e238b"><div class="ttname"><a href="globals_8h.html#a5492e579e30e1bb9351cd601a89e238b">ec_state_string</a></div><div class="ttdeci">size_t ec_state_string(uint8_t, char *, uint8_t)</div><div class="ttdoc">Prints slave states in clear text. </div><div class="ttdef"><b>Definition:</b> <a href="module_8c_source.html#l00394">module.c:394</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a86dd65308e2a0e1c89a96f35d2b5672f"><div class="ttname"><a href="structec__fsm__change.html#a86dd65308e2a0e1c89a96f35d2b5672f">ec_fsm_change::take_time</a></div><div class="ttdeci">uint8_t take_time</div><div class="ttdoc">take sending timestamp </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00075">fsm_change.h:75</a></div></div>
<div class="ttc" id="structec__slave_html_a6214f41ec1dce05b67b298b89a49e1f8"><div class="ttname"><a href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">ec_slave::current_state</a></div><div class="ttdeci">ec_slave_state_t current_state</div><div class="ttdoc">Current application state. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00192">slave.h:192</a></div></div>
<div class="ttc" id="structec__code__msg__t_html_a21dd735111c4e487365bf7570fda697d"><div class="ttname"><a href="structec__code__msg__t.html#a21dd735111c4e487365bf7570fda697d">ec_code_msg_t::code</a></div><div class="ttdeci">uint32_t code</div><div class="ttdoc">Code. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00279">globals.h:279</a></div></div>
<div class="ttc" id="slave_8h_html_aae2995e6509df66255d8f7fcdb5eb5bb"><div class="ttname"><a href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a></div><div class="ttdeci">#define EC_SLAVE_WARN(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific warnings to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00090">slave.h:90</a></div></div>
<div class="ttc" id="structec__datagram__t_html"><div class="ttname"><a href="structec__datagram__t.html">ec_datagram_t</a></div><div class="ttdoc">EtherCAT datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00087">datagram.h:87</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a6426f6ba873260eb02f47b455666666e"><div class="ttname"><a href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a></div><div class="ttdeci">void ec_fsm_change_start(ec_fsm_change_t *fsm, ec_slave_t *slave, ec_slave_state_t state)</div><div class="ttdoc">Starts the change state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00090">fsm_change.c:90</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a1eeebb1d33d0dbf47498dd78a966977d"><div class="ttname"><a href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">ec_datagram_t::working_counter</a></div><div class="ttdeci">uint16_t working_counter</div><div class="ttdoc">Working counter. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00099">datagram.h:99</a></div></div>
<div class="ttc" id="fsm__change_8c_html_ac6b5a2fe1d6064f2a6680d9969f9ba06"><div class="ttname"><a href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a></div><div class="ttdeci">void ec_fsm_change_state_end(ec_fsm_change_t *)</div><div class="ttdoc">State: END. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00572">fsm_change.c:572</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0afa4a479453f36ac36204ece05aeacd82"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0afa4a479453f36ac36204ece05aeacd82">EC_SLAVE_STATE_ACK_ERR</a></div><div class="ttdoc">Acknowledge/Error bit (no actual state) </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00140">globals.h:140</a></div></div>
<div class="ttc" id="structec__slave_html_ae4c26b32979bcb21cf391ca3b170d701"><div class="ttname"><a href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">ec_slave::station_address</a></div><div class="ttdeci">uint16_t station_address</div><div class="ttdoc">Configured station address. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00184">slave.h:184</a></div></div>
<div class="ttc" id="structec__code__msg__t_html_a9b1fef025e25828a20170a275c5976e3"><div class="ttname"><a href="structec__code__msg__t.html#a9b1fef025e25828a20170a275c5976e3">ec_code_msg_t::message</a></div><div class="ttdeci">const char * message</div><div class="ttdoc">Message belonging to code. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00280">globals.h:280</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="structec__fsm__change_html_ab273d6047105421f11b993301269dea3"><div class="ttname"><a href="structec__fsm__change.html#ab273d6047105421f11b993301269dea3">ec_fsm_change::datagram</a></div><div class="ttdeci">ec_datagram_t * datagram</div><div class="ttdoc">datagram used in the state machine </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00067">fsm_change.h:67</a></div></div>
<div class="ttc" id="master_8h_html"><div class="ttname"><a href="master_8h.html">master.h</a></div><div class="ttdoc">EtherCAT master structure. </div></div>
<div class="ttc" id="fsm__change_8c_html_a70051338de643faf0297a9b1f6784064"><div class="ttname"><a href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a></div><div class="ttdeci">void ec_fsm_change_state_error(ec_fsm_change_t *)</div><div class="ttdoc">State: ERROR. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00561">fsm_change.c:561</a></div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="fsm__change_8h_html_afca7005acad1cbd2221d92dfbf4a608bace4d82f3fb6f59f56e3d4f60a77bb78d"><div class="ttname"><a href="fsm__change_8h.html#afca7005acad1cbd2221d92dfbf4a608bace4d82f3fb6f59f56e3d4f60a77bb78d">EC_FSM_CHANGE_MODE_ACK_ONLY</a></div><div class="ttdoc">only state acknowledgement </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00052">fsm_change.h:52</a></div></div>
<div class="ttc" id="datagram_8c_html_a56f873f563806b58344e8d5da6b0a53d"><div class="ttname"><a href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a></div><div class="ttdeci">void ec_datagram_zero(ec_datagram_t *datagram)</div><div class="ttdoc">Fills the datagram payload memory with zeros. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00178">datagram.c:178</a></div></div>
<div class="ttc" id="structec__code__msg__t_html"><div class="ttname"><a href="structec__code__msg__t.html">ec_code_msg_t</a></div><div class="ttdoc">Code/Message pair. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00278">globals.h:278</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a90d55e568be4b8464e9725c105d6c4b0"><div class="ttname"><a href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">ec_datagram_t::state</a></div><div class="ttdeci">ec_datagram_state_t state</div><div class="ttdoc">State. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00100">datagram.h:100</a></div></div>
<div class="ttc" id="structec__fsm__change_html_aa357cf0cae0e5b306b6f555d48dc47ba"><div class="ttname"><a href="structec__fsm__change.html#aa357cf0cae0e5b306b6f555d48dc47ba">ec_fsm_change::jiffies_start</a></div><div class="ttdeci">unsigned long jiffies_start</div><div class="ttdoc">change timer </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00074">fsm_change.h:74</a></div></div>
<div class="ttc" id="slave_8h_html_a39519c3172e4196e40fa9006fb801612"><div class="ttname"><a href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a></div><div class="ttdeci">#define EC_SLAVE_ERR(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific errors to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00076">slave.h:76</a></div></div>
<div class="ttc" id="structec__fsm__change_html_acd06ab4990fd4b46266a679fed6e0695"><div class="ttname"><a href="structec__fsm__change.html#acd06ab4990fd4b46266a679fed6e0695">ec_fsm_change::state</a></div><div class="ttdeci">void(* state)(ec_fsm_change_t *)</div><div class="ttdoc">slave state change state function </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00070">fsm_change.h:70</a></div></div>
<div class="ttc" id="datagram_8c_html_a1f7361d097a385f3ed98ce98ba352a1c"><div class="ttname"><a href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a></div><div class="ttdeci">void ec_datagram_print_wc_error(const ec_datagram_t *datagram)</div><div class="ttdoc">Evaluates the working counter of a single-cast datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00602">datagram.c:602</a></div></div>
<div class="ttc" id="fsm__change_8c_html_ab408609f93deb57cb9ad9d63a9703491"><div class="ttname"><a href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a></div><div class="ttdeci">int ec_fsm_change_exec(ec_fsm_change_t *fsm)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00124">fsm_change.c:124</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gace219530ddd83f5f3f54d5b329b94a3d"><div class="ttname"><a href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a></div><div class="ttdeci">#define EC_WRITE_U16(DATA, VAL)</div><div class="ttdoc">Write a 16-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02204">ecrt.h:2204</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a1ff34d96ae20d01c0ceff028a86ba0d2"><div class="ttname"><a href="fsm__change_8c.html#a1ff34d96ae20d01c0ceff028a86ba0d2">ec_fsm_change_state_start</a></div><div class="ttdeci">void ec_fsm_change_state_start(ec_fsm_change_t *)</div><div class="ttdoc">Change state: START. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00152">fsm_change.c:152</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a6d947220ad1f1869e05a59d70548dd2e"><div class="ttname"><a href="fsm__change_8c.html#a6d947220ad1f1869e05a59d70548dd2e">ec_fsm_change_clear</a></div><div class="ttdeci">void ec_fsm_change_clear(ec_fsm_change_t *fsm)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00080">fsm_change.c:80</a></div></div>
<div class="ttc" id="datagram_8c_html_ad34b69b7bf678ec548bd09d3ec4027d6"><div class="ttname"><a href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a></div><div class="ttdeci">int ec_datagram_fpwr(ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)</div><div class="ttdoc">Initializes an EtherCAT FPWR datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00298">datagram.c:298</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a3565fb9fec03a24d1d3a66cce7e9fce3"><div class="ttname"><a href="structec__fsm__change.html#a3565fb9fec03a24d1d3a66cce7e9fce3">ec_fsm_change::mode</a></div><div class="ttdeci">ec_fsm_change_mode_t mode</div><div class="ttdoc">full state change, or ack only. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00071">fsm_change.h:71</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0">ec_slave_state_t</a></div><div class="ttdeci">ec_slave_state_t</div><div class="ttdoc">State of an EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00127">globals.h:127</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a416b62cee177ddf8ec5865b93c8f0750"><div class="ttname"><a href="fsm__change_8c.html#a416b62cee177ddf8ec5865b93c8f0750">ec_fsm_change_state_check_ack</a></div><div class="ttdeci">void ec_fsm_change_state_check_ack(ec_fsm_change_t *)</div><div class="ttdoc">Change state: CHECK ACK. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00495">fsm_change.c:495</a></div></div>
<div class="ttc" id="datagram_8c_html_ae9a50bd9874a22d2f62a17973c042e9b"><div class="ttname"><a href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a></div><div class="ttdeci">int ec_datagram_fprd(ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)</div><div class="ttdoc">Initializes an EtherCAT FPRD datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00273">datagram.c:273</a></div></div>
<div class="ttc" id="fsm__change_8h_html_afca7005acad1cbd2221d92dfbf4a608baab98fc747b7ddcbd70755c03bf31122e"><div class="ttname"><a href="fsm__change_8h.html#afca7005acad1cbd2221d92dfbf4a608baab98fc747b7ddcbd70755c03bf31122e">EC_FSM_CHANGE_MODE_FULL</a></div><div class="ttdoc">full state change </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00051">fsm_change.h:51</a></div></div>
<div class="ttc" id="fsm__change_8c_html_aa1d6b2a804bb531bb20a527ca46bfc16"><div class="ttname"><a href="fsm__change_8c.html#aa1d6b2a804bb531bb20a527ca46bfc16">ec_fsm_change_state_status</a></div><div class="ttdeci">void ec_fsm_change_state_status(ec_fsm_change_t *)</div><div class="ttdoc">Change state: STATUS. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00237">fsm_change.c:237</a></div></div>
<div class="ttc" id="slave_8h_html_af7d7537e5ba790ca327223cb92318eed"><div class="ttname"><a href="slave_8h.html#af7d7537e5ba790ca327223cb92318eed">EC_SLAVE_INFO</a></div><div class="ttdeci">#define EC_SLAVE_INFO(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific information to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00062">slave.h:62</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a2813e95dc9b8f066f1d88a379db9919a"><div class="ttname"><a href="fsm__change_8c.html#a2813e95dc9b8f066f1d88a379db9919a">ec_fsm_change_init</a></div><div class="ttdeci">void ec_fsm_change_init(ec_fsm_change_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00065">fsm_change.c:65</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a17990ee1720e4f8024fea39a6c167e59"><div class="ttname"><a href="fsm__change_8c.html#a17990ee1720e4f8024fea39a6c167e59">ec_fsm_change_state_ack</a></div><div class="ttdeci">void ec_fsm_change_state_ack(ec_fsm_change_t *)</div><div class="ttdoc">Change state: ACK. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00458">fsm_change.c:458</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a5bdb82dad7820f4bb46d5713c4247a54"><div class="ttname"><a href="fsm__change_8c.html#a5bdb82dad7820f4bb46d5713c4247a54">al_status_messages</a></div><div class="ttdeci">const ec_code_msg_t al_status_messages[]</div><div class="ttdoc">Application layer status messages. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00346">fsm_change.c:346</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gaa78148947379983986940d1980ac3db1"><div class="ttname"><a href="group__ApplicationInterface.html#gaa78148947379983986940d1980ac3db1">EC_READ_U16</a></div><div class="ttdeci">#define EC_READ_U16(DATA)</div><div class="ttdoc">Read a 16-bit unsigned value from EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02135">ecrt.h:2135</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a64a969bd6bad475ff30870eed7f79266"><div class="ttname"><a href="structec__fsm__change.html#a64a969bd6bad475ff30870eed7f79266">ec_fsm_change::requested_state</a></div><div class="ttdeci">ec_slave_state_t requested_state</div><div class="ttdoc">input: state </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00072">fsm_change.h:72</a></div></div>
<div class="ttc" id="datagram_8c_html_a84b0c2679038e17cfd5af69df9a68001"><div class="ttname"><a href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a></div><div class="ttdeci">void ec_datagram_print_state(const ec_datagram_t *datagram)</div><div class="ttdoc">Prints the state of a datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00565">datagram.c:565</a></div></div>
<div class="ttc" id="structec__fsm__change_html_ae3843c25b9fd49665931655cafc21b3d"><div class="ttname"><a href="structec__fsm__change.html#ae3843c25b9fd49665931655cafc21b3d">ec_fsm_change::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">slave the FSM runs on </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00066">fsm_change.h:66</a></div></div>
<div class="ttc" id="globals_8h_html_a1de201db5fcf72a3acf152700008e083"><div class="ttname"><a href="globals_8h.html#a1de201db5fcf72a3acf152700008e083">EC_STATE_STRING_SIZE</a></div><div class="ttdeci">#define EC_STATE_STRING_SIZE</div><div class="ttdoc">Minimum size of a buffer used with ec_state_string(). </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00066">globals.h:66</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a547d125301f531e459193593442ba6e9"><div class="ttname"><a href="fsm__change_8c.html#a547d125301f531e459193593442ba6e9">ec_fsm_change_ack</a></div><div class="ttdeci">void ec_fsm_change_ack(ec_fsm_change_t *fsm, ec_slave_t *slave)</div><div class="ttdoc">Starts the change state machine to only acknowlegde a slave&amp;#39;s state. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00107">fsm_change.c:107</a></div></div>
<div class="ttc" id="datagram_8h_html_ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8"><div class="ttname"><a href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a></div><div class="ttdoc">Timed out (dequeued). </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00079">datagram.h:79</a></div></div>
<div class="ttc" id="structec__datagram__t_html_ae7471d08444f2bc780532e9268859296"><div class="ttname"><a href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">ec_datagram_t::data</a></div><div class="ttdeci">uint8_t * data</div><div class="ttdoc">Datagram payload. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00094">datagram.h:94</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gabfd606064b98475fc6cbe52aea6b5133"><div class="ttname"><a href="group__ApplicationInterface.html#gabfd606064b98475fc6cbe52aea6b5133">EC_READ_U8</a></div><div class="ttdeci">#define EC_READ_U8(DATA)</div><div class="ttdoc">Read an 8-bit unsigned value from EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02119">ecrt.h:2119</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a3086450d29218c679764594776e55fb8"><div class="ttname"><a href="fsm__change_8c.html#a3086450d29218c679764594776e55fb8">ec_fsm_change_state_code</a></div><div class="ttdeci">void ec_fsm_change_state_code(ec_fsm_change_t *)</div><div class="ttdoc">Change state: CODE. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00406">fsm_change.c:406</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a2f4192e2dc04a2bdbe005c3813def3d0"><div class="ttname"><a href="fsm__change_8c.html#a2f4192e2dc04a2bdbe005c3813def3d0">ec_fsm_change_state_check</a></div><div class="ttdeci">void ec_fsm_change_state_check(ec_fsm_change_t *)</div><div class="ttdoc">Change state: CHECK. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00174">fsm_change.c:174</a></div></div>
<div class="ttc" id="fsm__change_8c_html_ab1ff93adaf35610e0b9e28d609f0ce8a"><div class="ttname"><a href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">ec_fsm_change_state_start_code</a></div><div class="ttdeci">void ec_fsm_change_state_start_code(ec_fsm_change_t *)</div><div class="ttdoc">Enter reading AL status code. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00326">fsm_change.c:326</a></div></div>
<div class="ttc" id="datagram_8h_html_ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a"><div class="ttname"><a href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a></div><div class="ttdoc">Received (dequeued). </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00078">datagram.h:78</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a1327ecfcea3bdd858423750cf22783e6"><div class="ttname"><a href="structec__fsm__change.html#a1327ecfcea3bdd858423750cf22783e6">ec_fsm_change::old_state</a></div><div class="ttdeci">ec_slave_state_t old_state</div><div class="ttdoc">prior slave state </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00073">fsm_change.h:73</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a00a1bc8fab1ccbed6b723bebb19ae34b"><div class="ttname"><a href="structec__fsm__change.html#a00a1bc8fab1ccbed6b723bebb19ae34b">ec_fsm_change::retries</a></div><div class="ttdeci">unsigned int retries</div><div class="ttdoc">retries upon datagram timeout </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00068">fsm_change.h:68</a></div></div>
<div class="ttc" id="structec__slave_html_aef33c89d3974546f5aed153b379d0d24"><div class="ttname"><a href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">ec_slave::error_flag</a></div><div class="ttdeci">unsigned int error_flag</div><div class="ttdoc">Stop processing after an error. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00193">slave.h:193</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a3a643445750ee67fa83d182eb720380e"><div class="ttname"><a href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">ec_datagram_t::jiffies_received</a></div><div class="ttdeci">unsigned long jiffies_received</div><div class="ttdoc">Jiffies, when the datagram was received. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00108">datagram.h:108</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0ae9edba07c48fe21c2e3ee549f98a0f59"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0ae9edba07c48fe21c2e3ee549f98a0f59">EC_SLAVE_STATE_UNKNOWN</a></div><div class="ttdoc">unknown state </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00128">globals.h:128</a></div></div>
<div class="ttc" id="structec__fsm__change_html"><div class="ttname"><a href="structec__fsm__change.html">ec_fsm_change</a></div><div class="ttdoc">EtherCAT state change FSM. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00064">fsm_change.h:64</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a07f6b7b3e079c69fcc052f7fcd4354ce"><div class="ttname"><a href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a></div><div class="ttdeci">int ec_fsm_change_success(ec_fsm_change_t *fsm)</div><div class="ttdoc">Returns, if the state machine terminated with success. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00139">fsm_change.c:139</a></div></div>
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